#include "ActionTask.h"
Status_t State;
extern RC_Ctl_t RC_Ctl;
extern SteeringWheel_type Robot1;
/**
  * @brief  Input_State_Act
  * @param  None
  * @retval None
  */
void Input_State_Act(RC_Ctl_t  RC_Ctl )
{
		switch(RC_Ctl.rc.s2)
	 {
			case 3:
				State.ChassisMode = Chassis_Auto_Mode;
			break;
			case 1:
				State.ChassisMode = Chassis_Close_Loop_Mode; 
				if(RC_Ctl.rc.s1 == 1) Robot1.Steeringwheel_Mode = Stright;
				if(RC_Ctl.rc.s1 == 3)	Robot1.Steeringwheel_Mode = Small_top;
			break;
			case 2:
				State.ChassisMode = Chassis_Close_Loop_Mode;
			break;
			default:
				State.ChassisMode = Chassis_PowerDown_Mode;
		}
	  
}
/**
  * @brief  Input_Chassis_Mode
  * @param  None
  * @retval None
  */
void Input_Chassis_Mode(void)
{
		switch(State.ChassisMode)
		{
			case Chassis_Open_Loop_Mode:
				//Chassis_Open_Loop_Cal();
				break;
			case Chassis_Close_Loop_Mode:
				
				break;
			case Chassis_Test_Mode:
				//Chassis_Test_Cal();
				break;
			case Chassis_Auto_Mode:
				//Chassis_Auto_Cal();
				break;
			case Chassis_PowerDown_Mode:
				Chassis_PowerDown_Cal();
				break;
			
		}
}
